Local environments modelling and path planning for patrol robot in the substation

Substation is the hub of the power grid. Regular inspection is very crucial in order to confirm the electrical equipment in substation to operate normally. Recently, manual inspection is gradually replaced by inspection robot. Local environment modelling and path planning are mainly key problems when patrol robot carry out the inspection work. For dealing with this challenging but imperative issue, there are numerous researchers have strove for this scientific field and have proposed some valuable approaches. The LIDAR is one of excellent sensors for environment perception and collision avoidance for robot. For enhancing the suitability of path planning, a novel local environment modelling method is proposed in which the safety, accessibility, stability and reachability are taken into account when the patrol robot moves in unknown environment, one robot control algorithm which meet the kinematics and dynamics motion principle is investigate as well. Some simulation experiments have also been conducted for validating modelling and planning performance of the proposed approach.